diff --git a/kuka_agilus_support/launch/test_kr10r1100-2.launch.py b/kuka_agilus_support/launch/test_kr10r1100-2.launch.py
new file mode 100644
index 0000000..1401602
--- /dev/null
+++ b/kuka_agilus_support/launch/test_kr10r1100-2.launch.py
@@ -0,0 +1,58 @@
+# Copyright 2022 Márton Antal
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ robot_description_content = Command(
+ [
+ PathJoinSubstitution([FindExecutable(name="xacro")]),
+ " ",
+ PathJoinSubstitution(
+ [FindPackageShare("kuka_agilus_support"),
+ "urdf", "kr10_r1100-2.urdf.xacro"]
+ ),
+ " ",
+ ]
+ )
+ robot_description = {'robot_description': robot_description_content}
+
+ # RViz
+ rviz_config_file = PathJoinSubstitution([FindPackageShare(
+ 'kuka_agilus_support'), "config", "agilus_urdf.rviz"])
+ rviz_node = Node(package='rviz2',
+ executable='rviz2',
+ name='rviz2_launch',
+ output='log',
+ arguments=['-d', rviz_config_file],
+ parameters=[robot_description])
+
+ # Publish TF
+ robot_state_publisher = Node(package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='both',
+ parameters=[robot_description])
+
+ # Joint state publisher
+ joint_state_publisher = Node(package='joint_state_publisher',
+ executable='joint_state_publisher',
+ name='joint_state_publisher',
+ output='log')
+
+ return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher])
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/base_link.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/base_link.stl
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_1.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_1.stl
new file mode 100755
index 0000000..e53b051
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_2.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_2.stl
new file mode 100755
index 0000000..c001b15
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_3.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_3.stl
new file mode 100755
index 0000000..2d1afad
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_4.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_4.stl
new file mode 100755
index 0000000..a8b56d6
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_5.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_5.stl
new file mode 100755
index 0000000..670d772
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_6.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_6.stl
new file mode 100755
index 0000000..7c4f361
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/base_link.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/base_link.stl
new file mode 100755
index 0000000..85fa99d
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_1.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_1.stl
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index 0000000..e53b051
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_2.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_2.stl
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index 0000000..c001b15
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_3.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_3.stl
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index 0000000..2d1afad
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_4.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_4.stl
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_5.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_5.stl
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diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_6.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_6.stl
new file mode 100755
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diff --git a/kuka_agilus_support/urdf/kr10_r1100-2.urdf.xacro b/kuka_agilus_support/urdf/kr10_r1100-2.urdf.xacro
new file mode 100644
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--- /dev/null
+++ b/kuka_agilus_support/urdf/kr10_r1100-2.urdf.xacro
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diff --git a/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro b/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
new file mode 100644
index 0000000..edf0858
--- /dev/null
+++ b/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
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diff --git a/kuka_kr_moveit_config/CMakeLists.txt b/kuka_kr_moveit_config/CMakeLists.txt
index 9509ade..b992bec 100644
--- a/kuka_kr_moveit_config/CMakeLists.txt
+++ b/kuka_kr_moveit_config/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(xacro REQUIRED)
set(supported_robots
kr6_r700_sixx
kr6_r900_sixx
+ kr10_r1100-2
kr16_r2010-2
)